def __init__(self, attrs, driveOnLeft=False):
super().__init__(attrs)
self.driveOnLeft = driveOnLeft
self.translation = attrs['translation']
pts = [
np.array(webotsToScenicPosition(p + self.translation))
for p in attrs['wayPoints']
]
self.waypoints = tuple(cleanChain(pts, 0.05))
assert len(self.waypoints) > 1, pts
self.width = float(attrs.get('width', 7))
self.lanes = int(attrs.get('numberOfLanes', 2))
if self.lanes < 1:
raise RuntimeError(f'Road {self.osmID} has fewer than 1 lane!')
self.forwardLanes = int(attrs.get('numberOfForwardLanes', 1))
# if self.forwardLanes < 1:
# raise RuntimeError(f'Road {self.osmID} has fewer than 1 forward lane!')
self.backwardLanes = self.lanes - self.forwardLanes
self.hasLeftSidewalk = attrs.get('leftBorder', True)
self.hasRightSidewalk = attrs.get('rightBorder', True)
self.sidewalkWidths = list(attrs.get('roadBorderWidth', [0.8]))
if ((self.hasLeftSidewalk or self.hasRightSidewalk)
and len(self.sidewalkWidths) < 1):
raise RuntimeError(
f'Road {self.osmID} has sidewalk with empty width!')
self.startCrossroad = attrs.get('startJunction')
self.endCrossroad = attrs.get('endJunction')
def __init__(self, attrs):
super().__init__(attrs)
self.translation = attrs['translation']
points = list(np.array(webotsToScenicPosition(p + self.translation))
for p in attrs['shape'])
if len(points) > 0:
self.points = points
self.region = PolygonalRegion(self.points)
else:
verbosePrint(f'WARNING: Crossroad {self.osmID} has empty shape field!')
self.region = None
def __init__(self, attrs):
self.translation = attrs.get('translation', np.array((0, 0, 0)))
pos = np.array(webotsToScenicPosition(self.translation))
name = attrs.get('name', '')
self.angle = webotsToScenicRotation(attrs.get('rotation', (0, 1, 0, 0)))
if self.angle is None:
raise RuntimeError(f'PedestrianCrossing "{name}" is not 2D!')
size = attrs.get('size', (20, 8))
self.length, self.width = float(size[0]), float(size[1])
self.length += 0.2 # pad length to intersect sidewalks better # TODO improve?
hl, hw = self.length / 2, self.width / 2
self.corners = tuple(pos + rotateVector(vec, -self.angle)
for vec in ((hl, hw), (-hl, hw), (-hl, -hw), (hl, -hw)))
self.region = PolygonalRegion(self.corners)